A recording medium conveying device includes an endless belt to convey a recording medium, a plurality of support rollers around which the belt is wound, to rotate the belt, and a cleaner in contact with the belt to clean the belt. One of the plurality of support rollers is a separation support roller, mounted on a tiltable rotary shaft, to separate the recording medium from the belt using a curvature of the separation support roller. The separation support roller includes a contact member to contact an edge of the belt when the belt laterally moves toward one side of the belt.